What does your daughter think? Does she want to spend time with him?
Why does he want to do this? Has his mental health improved? Does he feel more able to be a dad? It’s understandable if he wants to make things better but your daughter’s feeling have to come first.
Would she be happy perhaps arranging to meet him for Pizza somewhere familiar. You drop her at the restaurant, they have a meal, then you collect her. If you choose somewhere familiar she knows the staff, that should help with any anxiety. And if she’s really not happy she could text you to collect her early.
I think I’d be guided by your daughter.